相关论文: LocPoseNet: Robust Location Prior for Unseen Objec…

6D Object pose estimation is a fundamental component in robotics enabling efficient interaction with the environment. It is particularly challenging in bin-picking applications, where objects may be textureless and in difficult poses, and…

In this thesis, we address the problem of estimating the 6D pose of rigid objects from a single RGB or RGB-D input image, assuming that 3D models of the objects are available. This problem is of great importance to many application fields…

Existing learning-based methods for object pose estimation in RGB images are mostly model-specific or category based. They lack the capability to generalize to new object categories at test time, hence severely hindering their…

Detecting objects and their 6D poses from only RGB images is an important task for many robotic applications. While deep learning methods have made significant progress in visual object detection and segmentation, the object pose estimation…

Category-level 6D object pose estimation aims to estimate the rotation, translation and size of unseen instances within specific categories. In this area, dense correspondence-based methods have achieved leading performance. However, they…

We propose a keypoint-based object-level SLAM framework that can provide globally consistent 6DoF pose estimates for symmetric and asymmetric objects alike. To the best of our knowledge, our system is among the first to utilize the camera…

Most successful approaches to estimate the 6D pose of an object typically train a neural network by supervising the learning with annotated poses in real world images. These annotations are generally expensive to obtain and a common…

Many manipulation tasks, such as placement or within-hand manipulation, require the object's pose relative to a robot hand. The task is difficult when the hand significantly occludes the object. It is especially hard for adaptive hands, for…

We present the evaluation methodology, datasets and results of the BOP Challenge 2023, the fifth in a series of public competitions organized to capture the state of the art in model-based 6D object pose estimation from an RGB/RGB-D image…

Object pose estimation is an integral part of robot vision and AR. Previous 6D pose retrieval pipelines treat the problem either as a regression task or discretize the pose space to classify. We change this paradigm and reformulate the…

Deep Learning (DL) has become essential in various robotics applications due to excelling at processing raw sensory data to extract task specific information from semantic objects. For example, vision-based object-relative navigation relies…

We present the evaluation methodology, datasets and results of the BOP Challenge 2024, the 6th in a series of public competitions organized to capture the state of the art in 6D object pose estimation and related tasks. In 2024, our goal…

We address the problem of weakly supervised object localization where only image-level annotations are available for training object detectors. Numerous methods have been proposed to tackle this problem through mining object proposals.…

In this paper, we study imitation learning under the challenging setting of: (1) only a single demonstration, (2) no further data collection, and (3) no prior task or object knowledge. We show how, with these constraints, imitation learning…

In this paper, we address the problem of estimating the in-hand 6D pose of an object in contact with multiple vision-based tactile sensors. We reason on the possible spatial configurations of the sensors along the object surface.…

Rotation estimation of high precision from an RGB-D object observation is a huge challenge in 6D object pose estimation, due to the difficulty of learning in the non-linear space of SO(3). In this paper, we propose a novel rotation…

Robots and other smart devices need efficient object-based scene representations from their on-board vision systems to reason about contact, physics and occlusion. Recognized precise object models will play an important role alongside…

This study addresses the challenge of performing visual localization in demanding conditions such as night-time scenarios, adverse weather, and seasonal changes. While many prior studies have focused on improving image-matching performance…

Object localization in 3D space is a challenging aspect in monocular 3D object detection. Recent advances in 6DoF pose estimation have shown that predicting dense 2D-3D correspondence maps between image and object 3D model and then…

Reliable and stable 6D pose estimation of uncooperative space objects plays an essential role in on-orbit servicing and debris removal missions. Considering that the pose estimator is sensitive to background interference, this paper…